RM38N0EC _95 ADAS / AD _111850 ADVANCED DRIVER ASSISTANCE SYSTEM _0502179 MILLIMETER WAVE RADAR SENSOR A

ADVANCED DRIVER ASSISTANCE SYSTEM  MILLIMETER WAVE RADAR SENSOR  TARGET ADJUSTMENT(FLAT SURFACE TARGET)  


PROCEDURE

Hide 1. PREPARATION FOR MILLIMETER WAVE RADAR SENSOR ASSEMBLY ADJUSTMENT

a.
B576423C01
0.698,1.146 1.01,1.302 0.313,0.156 10 false *a 1.615,0.313 1.927,0.469 0.313,0.156 10 false *b 0.708,3.552 0.969,3.771 0.26,0.219 10 false *a
*a 2.5 m (8.2 ft.)
*b 2 m (6.56 ft.)
V100144

Do not place any metal objects in this area
V100155

Do not place metal objects with a height of more than 50 mm (1.97 in.) in this area


Park the vehicle on a level surface where the area in front of the vehicle shown in the illustration is free of metal objects.

HINT:

Metal objects with a height of 50 mm (1.97 in.) or less placed within the area shown in the illustration will not affect the adjustment.



b.

Check the levelness of the ground.

i.
E383805C03
1.458,0.573 1.771,0.771 0.313,0.198 10 false *a
*a 1.5 m (4.92 ft.)
V100155

Levelness Check Point


Check the levelness of the ground at the 3 points shown in the illustration.


ii.

Place the level on each levelness check point and check that the air bubble of the level is centered.

E344401



c.

Adjust the tire inflation pressure to the specified pressure.

Click hereSuspension>TIRE / WHEEL>TIRE AND WHEEL SYSTEM>INSPECTION


d.

Clean the front emblem or No. 1 radiator grille garnish, and millimeter wave radar sensor assembly.


e.

Visually inspect the front of the vehicle.

HINT:

Confirm that there is no damage or deformation.



f.

Visually inspect the front bumper assembly, radiator grille and stays.

HINT:

Confirm that there is no damage or deformation.



Hide 2. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY

a.
B576480C03
2.135,0.833 2.51,0.833 false 1.854,0.26 2.229,0.26 false 2.542,0.729 2.854,0.927 0.313,0.198 10 false *a 2.271,0.177 2.583,0.375 0.313,0.198 10 false *b
*a SST (Flat Surface Target)
*b SST (Panel Stand)


Adjust SST (flat surface target) height.

i.

Check that SST (flat surface target) has no damage or deformation.

SST
09870-60100  
09870-60111  (09870-06070)


ii.

Check that SST (flat surface target) is assembled correctly.


iii.

Check that SST (flat surface target) has no looseness or wobble.


iv.
B576482C03
1.771,1.125 2.177,0.885 true 1.76,2.323 2.125,2.5 true 1.104,0.427 1.469,0.604 true 0.844,1.49 1.229,1.74 true 2.229,0.813 2.542,1.01 0.313,0.198 10 false *a 2.177,2.448 2.49,2.646 0.313,0.198 10 false *a 0.938,0.354 1.25,0.552 0.313,0.198 10 false *b 0.688,1.417 1,1.615 0.313,0.198 10 false *c
*a Handle
*b Scale
*c Height Reference Line


Loosen the top and bottom handles of SST (panel stand), and while checking the included scale, adjust the height of SST (flat surface target) as shown in the illustration so that its height reference line is at the same height as the millimeter wave radar sensor assembly, then re-tighten the top and bottom handles.

HINT:
for SFTM Made:
·

Adjust SST (flat surface target) so that its center is aligned with the millimeter wave radar sensor assembly (center of emblem).


for GTMC Made:
·

Adjust SST (flat surface target) so that its center is aligned with the millimeter wave radar sensor assembly (center of the No. 1 radiator grille garnish).

·

Height adjustment can be performed using the scale included with SST (flat surface target).



for SFTM Made:
Reference Value:

834 mm (2.74 ft.)


for GTMC Made:
Reference Value:

669 mm (2.19 ft.)




b.

Place SST (flat surface target).

i.

Hang a weight with a pointed tip from the center of the rear emblem, and mark the rear center point of the vehicle (point A) on the ground.

E475870C05
5.51,1.792 5.927,1.792 true 6.198,1.135 5.521,1.146 true 2.917,2.385 3.219,2.552 false 2.938,2.323 3.469,2.25 true 3.5,2.188 3.813,2.344 0.313,0.156 10 false *b 6.208,1.031 6.406,1.208 0.198,0.177 10 true *c 5.938,1.698 6.135,1.875 0.198,0.177 10 true *a 3.281,2.521 3.438,2.719 0.156,0.198 10 false A
*a String *b Weight
*c Center - -


HINT:

Lightly flick the string with your fingers several times to confirm that the string is perpendicular to the ground.



ii.

Hang a weight with a pointed tip from the center of the front emblem, and mark the front center point of the vehicle (point B) on the ground.

E475871C05
1.594,1.75 1.906,1.75 true 3.313,2.26 3.781,2.365 false 3.458,2.552 3.781,2.448 false 1.583,1.146 2.313,1.146 true 3.115,2.167 3.427,2.323 0.313,0.156 10 false *b 2.365,1.052 2.563,1.24 0.198,0.188 10 true *c 2.01,1.698 2.208,1.885 0.198,0.188 10 true *a 3.25,2.5 3.563,2.656 0.313,0.156 10 false B
*a String *b Weight
*c Center - -


HINT:

Lightly flick the string with your fingers several times to confirm that the string is perpendicular to the ground.



iii.

When using a laser line marker:

NOTICE:

Do not look directly into the laser beam.


1.
B575940

Press the laser mode button on the laser line marker to activate the laser line emitters.

2.
B575215C05
1.792,1.375 2.156,1.292 false 1.948,1.771 1.75,1.396 false 2.177,1.208 2.49,1.406 0.313,0.198 10 false B 1.875,1.76 2.188,1.958 0.313,0.198 10 false *a
*a Ground Marking Point (Cross Portion)


Align the laser beam ground marking point (cross portion) with point B.

3.

Align the center of the target panel with point A, and set the target panel so that it faces forward.

B575222C05
1.458,2.115 1.729,2.552 false 6.021,2.24 6.292,2.406 false 0.604,2.333 0.302,2.135 false 6.323,1.906 6.49,1.938 false 6.323,2.365 6.479,2.563 0.156,0.198 10 false A 1.708,2.563 1.865,2.76 0.156,0.198 10 false B 0.135,2.052 0.448,2.25 0.313,0.198 10 false *a 6.5,1.865 6.708,2.031 0.208,0.167 10 false *b
*a Center Line *b Target Panel


4.

Adjust the position of the laser line marker so that the laser beam is aligned with the center line of the target panel.

5.
B575217C01
1.427,1.156 1.802,1.333 true 1.281,1.073 1.469,1.271 0.188,0.198 10 false *a
*a Tape Measure


Extend a tape measure at least 1500 mm (4.92 ft.) in length from point B, and set the tape measure in place.

6.
B576421C04
0.448,1.479 1.01,1.698 true 1.906,1.063 2.469,1.281 true 0.323,1.573 0.698,1.833 true 3.01,0.979 3.333,0.667 true 2.51,1.219 2.823,1.417 0.313,0.198 10 false *a 1.063,1.656 1.375,1.854 0.313,0.198 10 false C 2.906,0.948 3.094,1.146 0.188,0.198 10 false B 0.729,1.792 1.042,1.99 0.313,0.198 10 false *b 1.406,0.656 1.719,0.854 0.313,0.198 10 false *c
*a Tape Measure
*b Tape
*c 1500 mm (4.92 ft.)


Mark point C at a distance of 1500 mm (4.92 ft.) from point B, and apply a 300 mm (11.81 in.) piece of tape alongside the tape measure so that the tape extends 150 mm (5.91 in.) to the front and rear of point C.



iv.

When not using a laser line marker:

1.

Using tape and a string, create a line that connects point B to point A and extends at least 1500 mm (4.92 ft.) beyond the front center point of the vehicle.

E359937C03
0.979,1.969 0.979,1.646 false 0.438,2.073 0.438,1.75 false 6.188,2.073 6.188,1.75 false 0.896,1.958 1.208,2.156 0.313,0.198 10 false *a 0.365,2.073 0.677,2.271 0.313,0.198 10 false *b 6.125,2.083 6.438,2.281 0.313,0.198 10 false *b 2.125,0.302 2.438,0.5 0.313,0.198 10 false *c 5.938,1.438 6.25,1.635 0.313,0.198 10 false A 2.948,1.438 3.26,1.635 0.313,0.198 10 false B 1.146,1.438 1.458,1.635 0.313,0.198 10 false C
*a String *b Tape
*c 1500 mm (4.92 ft.) - -


HINT:
·

Make sure the string is taut when securing it with tape.

·

Lightly flick the string with your fingers several times to confirm that the string is aligned with point B.



2.

Mark point C (SST (flat surface target) placement position) at a position 1500 mm (4.92 ft.) from point B.

3.

Position SST (panel stand) so that it is aligned with the target position line and the mark-off line is aligned with point C as shown in the illustration.

B576481C03
0.771,0.979 1.146,1.292 false 2.167,0.625 2.448,0.844 2.448,0.844 2.74,0.625 true 1.406,0.625 1.604,0.427 true 2.354,1.823 2.156,1.646 false 0.583,0.885 0.896,1.083 0.313,0.198 10 false *a 2.313,0.438 2.625,0.635 0.313,0.198 10 false C 2.406,0.833 2.719,1.031 0.313,0.198 10 false *b 1.625,0.365 1.938,0.563 0.313,0.198 10 false *b 2.396,1.771 2.708,1.969 0.313,0.198 10 false *c
*a SST (Panel Stand) *b Mark-off Line
*c Reference Line - -


NOTICE:

Make sure that the mark-off lines of the SST (panel stand) are aligned with the reference line.





c.

Perform Front Beam Axis Adjustment.

NOTICE:
·

Close all of the doors.

·

Ensure that nobody enters the adjustment area during the adjustment.

·

Do not move or shake the vehicle during adjustment (do not get in or out of the vehicle).

·

Do not turn off the GTS or ignition switch.

·

If the vehicle moves or is shaken during beam axis adjustment such as during strong winds or a door is opened or closed, perform the adjustment again.



i.

Connect the GTS to the DLC3.


ii.

Turn the ignition switch to ON.


iii.

Turn the GTS on.


iv.

Enter the following menus: Body Electrical / Front Radar Sensor / Utility / Front Beam Axis Adjustment.

for Type A:

Body Electrical > Front Radar Sensor > Utility
Tester Display
Front Beam Axis Adjustment
50005 429 4404

for Type B:

Body Electrical > Front Radar Sensor > Utility
Tester Display
Front Beam Axis Adjustment
50005 429 4953

v.

Confirm the conditions displayed on the screen and then press "Next".


vi.

Select "Flat surface" and then press "Next".


vii.

Perform the adjustment according to the display on the GTS.

NOTICE:

If an error code is displayed, perform troubleshooting according to the following table, then perform the adjustment again.


Error No. Error Description Cause of Error Action to be Taken
1 No target abnormality
·

SST (flat surface target) is placed incorrectly.

·

The front emblem, No. 1 radiator grille garnish, or millimeter wave radar sensor assembly is covered by dirt or snow.


Place SST (flat surface target) in the correct position. (See page 2. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b) Place SST (flat surface target))
Clean the front emblem, No. 1 radiator grille garnish, or millimeter wave radar sensor assembly.
Check the installation condition of the front bumper assembly and radiator grille.
2 Target distance abnormality
·

SST (flat surface target) is placed incorrectly.


Place SST (flat surface target) in the correct position. (See page 2. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b) Place SST (flat surface target))
3 Plural targets abnormality
·

There is a reflective object near SST (flat surface target).

·

A person entered the adjustment area.


Remove any reflective objects.
Ensure that nobody enters the adjustment area during the adjustment. (See page 1. PREPARATION FOR MILLIMETER WAVE RADAR SENSOR ASSEMBLY ADJUSTMENT)
4 Target move abnormality
·

SST (flat surface target) was moved out of position or shaking during the adjustment due to wind.

·

A person entered the adjustment area.


Place SST (flat surface target) in the correct position. (See page 2. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b)Place SST (flat surface target))
Perform adjustment in an area with no wind.
Ensure that nobody enters the adjustment area during the adjustment. (See page 1. PREPARATION FOR MILLIMETER WAVE RADAR SENSOR ASSEMBLY ADJUSTMENT)
5 Axis adjustment
·

Optical axis adjustment has not been performed.


Optical axis adjustment. (See page 2. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (c) Front Beam Axis Adjustment)
6 Target angle abnormality
·

SST (flat surface target) is placed incorrectly.

·

The beam axis of the millimeter wave radar sensor assembly is outside the automatic correction range.


Place SST (flat surface target) in the correct position. (See page 2. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b)Place SST (flat surface target))
Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
7 Radar abnormality
·

Operation of the millimeter wave radar sensor assembly is abnormal.


Replace the millimeter wave radar sensor assembly.
8 Radar dirtiness
·

There is dirt on the front emblem, No. 1 radiator grille garnish, or millimeter wave radar sensor assembly.


Clean the front emblem, No. 1 radiator grille garnish, or millimeter wave radar sensor assembly.
9 Temperature abnormality
·

The temperature around the millimeter wave radar sensor assembly is too high.


Wait until the temperature drops to the operable range (-30 to 50°C).
10 Voltage abnormality
·

IG power source voltage is outside the operable range of the millimeter wave radar sensor assembly.


Check the auxiliary battery voltage (specified condition: 10 to 16 V).
·

for M20C-FKS, M20D-FKS:

(Click here)

·

for A25D-FXS, A25F-FXS:

(Click here)


11 External communication abnormality
·

CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.


Check the condition of the connectors and wire harness.
12 Radar axis aiming failure upward
·

The beam axis of the millimeter wave radar sensor assembly is deviated.

·

Road inclement is outside the standard value.


Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
Confirm road gradient.
13 Radar axis aiming failure downward
·

The beam axis of the millimeter wave radar sensor assembly is deviated.

·

Road inclement is outside the standard value.


Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
Confirm road gradient.
14 Vehicle speed abnormality
·

The vehicle is not stationary.


Ensure that the vehicle remains stationary.
15 Other
·

A mode change error occurred.

·

Operation of the yaw rate sensor is abnormal.

·

The vehicle is shaking.


Check for DTCs.
(Click here)
Check for DTCs.
for HV Model:(Click here)
for Gasoline Model:(Click here)
Ensure that the vehicle remains stationary.
16 Time out
·

The vehicle cannot communicate with GTS normally.

·

The vehicle does not keep still during beam axis adjustment.

·

Operation of the millimeter wave radar sensor assembly is abnormal.


·

Ensure that the vehicle is connected with the GTS correctly.

·

Ensure that the vehicle remains stationary.

·

Perform beam axis adjustment again and replace the millimeter wave radar sensor assembly if the same error code is output.


17 Target parameter abnormality
·

Wrong mode is selected.


Perform beam axis adjustment again.
18 Vehicle information undefined
·

CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.


Check the condition of the connectors.


viii.

Press "Exit" to finish front beam axis adjustment.



d.

Perform Front Beam Axis Misalignment Reading.

NOTICE:
·

Close all of the doors.

·

Do not move or shake the vehicle during adjustment (do not get in or out of the vehicle).

·

Ensure that nobody enters the adjustment area during the adjustment.

·

Do not turn off the GTS or ignition switch.



i.

Enter the following menus: Body Electrical / Front Radar Sensor / Utility / Front Beam Axis Misalignment Reading.

Body Electrical > Front Radar Sensor > Utility
Tester Display
Front Beam Axis Misalignment Reading
50005 429 4405

ii.

Confirm the conditions displayed on the screen and then press "Next".


iii.

Select "Flat surface" and then press "Next".


iv.

Perform the adjustment according to the display on the GTS.

Specified Condition:
Vertical -0.5 to 0.5 deg.
Horizontal -0.5 to 0.5 deg.


NOTICE:

If the result is not as specified, perform beam axis adjustment again.




e.

Perform Front Radar Acceleration Sensor Calibration.

i.

Enter the following menus: Body Electrical / Front Radar Sensor / Utility / Front Radar Acceleration Sensor Calibration.

Body Electrical > Front Radar Sensor > Utility
Tester Display
Front Radar Acceleration Sensor Calibration
50005 429 4506

ii.

Turn the ignition switch off.


iii.

Disconnect the GTS from the DLC3.



f.

After beam axis adjustment completes, clear the following system vehicle control history entries.

i.

Clear vehicle control history (Dynamic Radar Cruise Control System).

·

for HV Model:

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model)>VEHICLE CONTROL HISTORY (RoB)

·

for Gasoline Model:

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>DYNAMIC RADAR CRUISE CONTROL SYSTEM (for Gasoline Model)>VEHICLE CONTROL HISTORY (RoB)



ii.

Clear vehicle control history (Lane Tracing Assist System).

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>LANE TRACING ASSIST SYSTEM>VEHICLE CONTROL HISTORY (RoB)


iii.

Clear vehicle control history (Front Radar Sensor System).

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT RADAR SENSOR SYSTEM>VEHICLE CONTROL HISTORY (RoB)


iv.

Clear vehicle control history (Pre-collision System).

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>PRE-COLLISION SYSTEM>VEHICLE CONTROL HISTORY (RoB)


v.

Clear vehicle control history (Lighting System).

Click hereVehicle Exterior>LIGHTING (EXT)>LIGHTING SYSTEM>VEHICLE CONTROL HISTORY